A robust fractional order fuzzy P + fuzzy I + fuzz

Authors: Vineet Kumar K P S Rana Jitendra Kumar Puneet Mishra Sreejith S Nair

Publish Date: 2016/06/29

Volume: 14, Issue: 4, Pages: 474-488

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Abstract

In this paper a robust fractional order fuzzy P + fuzzy I + fuzzy D FOFP + FOFI + FOFD controller is presented for a nonlinear and uncertain 2link planar rigid manipulator It is a nonlinear fuzzy controller with variable gains that makes it selfadjustable or adaptive in nature The fractional order operators further make it more robust by providing additional degrees of freedom to the design engineer The integer order counterpart fuzzy P + fuzzy I + fuzzy D FP + FI + FD controller for a comparative study was realized by taking the integer value for the fractional order operators in FOFP + FOFI + FOFD controller The performances of both the fuzzy controllers are evaluated for reference trajectory tracking and disturbance rejection with and without model uncertainty and measurement noise Genetic algorithm was used to optimize the parameters of controller under study for minimum integral of absolute error Simulation results demonstrated that FOFP + FOFI + FOFD controller show much better performance as compared to its counterpart FP + FI + FD controller in servo as well as the regulatory problem and in model uncertainty and noisy environment FOFP + FOFI + FOFD controller demonstrated more robust behavior as compared to the FP + FI + FD controller For the developed controller boundedinput and boundedoutput stability conditions are also developed using Small Gain TheoremVineet Kumar received the M Sc degree in physics with electronics from Govind Ballabh Pant University of Agriculture Technology India MTech degree in instrumentation from Regional Engineering College Kurukshetra India and PhD degree from Delhi University India He has served industry from 1996 to 2000 Since July 2000 he has been associated with the Netaji Subhas Institute of Technology NSIT Delhi University India Currently he holds the post of associate professor in the Instrumentation and Control Engineering Division NSIT IndiaK P S Rana received the M Sc degree in physics electronics major from Meerut University India in 1989 and MTech degree in instrumentation from Indian Institute of Technology IIT India in 1991 and Ph D degree in “intelligent methods for complex vibration measurement and control” from Guru Gobind Singh Indraprastha University India in 2011 He has served Indian Space Research Organization ISRO from 1993–2002 as Scientist “SD” in Sensors Division at Bangalore India Since August 2000 he has been with Netaji Subhas Institute of Technology NSIT Delhi University India at the Department of Instrumentation and Control Engineering where he has served as assistant professor from August 2000 to December 2005 and since January 2006 he has been serving as associate professorJitendra Kumar received the BTech degree in electronics and instrumentation engineering from West Bengal University of Technology India and MTech degree in process control from Netaji Subhas Institute of Technology Delhi University India in year 2010 and 2013 respectively He served as a lecturer at GLA University Mathura India Currently he is a PhD candidate and also serving as a teachingcumresearchfellow in the Division of Instrumentation and Control Engineering at Netaji Subhas Institute of Technology Delhi University India

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